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Merge remote-tracking branch 'origin/master'

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xinyang
2019-07-25 12:48:26 +08:00
parent 2896fe5086 75939be514
commit 8a5cfd8869
12 changed files with 43 additions and 29 deletions
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2
armor/src/armor_finder/send_target/send_target.cpp
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@@ -16,7 +16,7 @@ static bool sendTarget(Serial &serial, double x, double y, double z, uint16_t sh
time_t t = time(nullptr); time_t t = time(nullptr);
if (last_time != t) { if (last_time != t) {
last_time = t; last_time = t;
cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; cout << "Armor: fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
fps = 0; fps = 0;
} }
fps += 1; fps += 1;

2
energy/include/energy/energy.h
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@@ -37,7 +37,7 @@ public:
void setSmallEnergyInit();//设置小能量机关初始化 void setSmallEnergyInit();//设置小能量机关初始化
void sendEnergy();//发送能量机关数据 void sendEnergy();//发送能量机关数据
void sendTarget(Serial& serial, float x, float y, float z);//发送数据 void sendTarget(Serial& serial, float x, float y, float z);//发送数据
void sendTarget(Serial& serial, float x, float y, float z, uint16_t u);//发送数据 void sendTarget(Serial& serial, float x, float y, uint16_t z, uint16_t u);//发送数据
private: private:

11
energy/src/energy/find/energy_finder.cpp
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@@ -2,6 +2,7 @@
// Created by xixiliadorabarry on 1/24/19. // Created by xixiliadorabarry on 1/24/19.
// //
#include "energy/energy.h" #include "energy/energy.h"
#include "log.h"
using namespace cv; using namespace cv;
using std::cout; using std::cout;
@@ -151,8 +152,8 @@ bool Energy::findCenterR(const cv::Mat src) {
// cout << cur_rect.center << endl; // cout << cur_rect.center << endl;
return true; return true;
} }
cout << "find center R false!" << endl; if (show_info)cout << "find center R false!" << endl;
// cv::waitKey(0); // cv::waitKey(0);
return false; return false;
} }
@@ -198,7 +199,7 @@ bool Energy::findFlowStripFan(const cv::Mat src) {
} }
// cout << "flow_strip_fans_cnt: " << flow_strip_fans.size() << endl; // cout << "flow_strip_fans_cnt: " << flow_strip_fans.size() << endl;
if (flow_strip_fans.empty()) { if (flow_strip_fans.empty()) {
cout << "flow strip fan false!" << endl; if (show_info)cout << "flow strip fan false!" << endl;
return false; return false;
} else { } else {
return true; return true;
@@ -266,11 +267,11 @@ bool Energy::findFlowStrip(const cv::Mat src) {
} }
// cout << "flow strip cnt: " << flow_strips.size() << endl; // cout << "flow strip cnt: " << flow_strips.size() << endl;
if (flow_strips.empty()) { if (flow_strips.empty()) {
cout << "flow strip false!" << endl; if (show_info)cout << "flow strip false!" << endl;
// waitKey(0); // waitKey(0);
return false; return false;
} else if (flow_strips.size() > 1) { } else if (flow_strips.size() > 1) {
cout << "Too many flow strips!" << endl; if (show_info)cout << "Too many flow strips!" << endl;
// waitKey(0); // waitKey(0);
return false; return false;
} else { } else {

4
energy/src/energy/find/target_finder.cpp
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@@ -1,7 +1,9 @@
// //
// Created by xixiliadorabarry on 1/24/19. // Created by xixiliadorabarry on 1/24/19.
// //
#include "energy/energy.h" #include "energy/energy.h"
#include "log.h"
using namespace cv; using namespace cv;
using std::cout; using std::cout;
@@ -67,7 +69,7 @@ bool Energy::findTargetInFlowStripFan() {
} }
// cout << "target armor cnt: " << target_armors.size() << endl; // cout << "target armor cnt: " << target_armors.size() << endl;
if (target_armors.empty()) { if (target_armors.empty()) {
cout << "find target armor false" << endl; if (show_info)cout << "find target armor false" << endl;
return false; return false;
} else { } else {
return true; return true;

1
energy/src/energy/get/aim_point_get.cpp
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@@ -21,5 +21,6 @@ void Energy::getAimPoint(cv::Point target_point) {
pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI; pitch_rotation = atan(dy / FOCUS_PIXAL) * 180 / PI;
// cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl; // cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
// cout << "mcuData.delta_x: " << mcuData.delta_x << '\t' << "mcuData.delta_y: " << mcuData.delta_y << endl; // cout << "mcuData.delta_x: " << mcuData.delta_x << '\t' << "mcuData.delta_y: " << mcuData.delta_y << endl;
// cout << "manual delta: " << manual_delta_x << '\t' << manual_delta_y << endl;
} }

2
energy/src/energy/mark/mark.cpp
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@@ -12,7 +12,7 @@ using namespace cv;
// 此函数用于记录操作手的微调dx和dy // 此函数用于记录操作手的微调dx和dy
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
void Energy::writeDownSlightChange(cv::Mat &src) { void Energy::writeDownSlightChange(cv::Mat &src) {
if (findFans(src) == 4){ if (findFans(src) >= 4) {
FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w"); FILE *fp_delta = fopen(PROJECT_DIR"/Mark/delta.txt", "w");
if (fp_delta) { if (fp_delta) {
fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x, mcuData.delta_y); fprintf(fp_delta, "delta_x: %d, delta_y: %d\n", mcuData.delta_x, mcuData.delta_y);

17
energy/src/energy/send/send.cpp
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@@ -28,11 +28,11 @@ void Energy::sendEnergy() {
} }
if (change_target) { if (change_target) {
sendTarget(serial, yaw_rotation, pitch_rotation, 5); sendTarget(serial, yaw_rotation, pitch_rotation, 5, 0);
} else if (is_guessing) { } else if (is_guessing) {
sendTarget(serial, yaw_rotation, pitch_rotation, 6); sendTarget(serial, yaw_rotation, pitch_rotation, 6, 0);
} else { } else {
sendTarget(serial, yaw_rotation, pitch_rotation, shoot); sendTarget(serial, yaw_rotation, pitch_rotation, shoot, 0);
} }
} }
@@ -51,7 +51,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z) {
time_t t = time(nullptr); time_t t = time(nullptr);
if (last_time != t) { if (last_time != t) {
last_time = t; last_time = t;
// cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; cout << "Energy: fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
fps = 0; fps = 0;
} }
fps += 1; fps += 1;
@@ -77,7 +77,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z) {
//---------------------------------------------------------------------------------------------------------------------- //----------------------------------------------------------------------------------------------------------------------
// 此函数用于发送数据给主控板 // 此函数用于发送数据给主控板
// --------------------------------------------------------------------------------------------------------------------- // ---------------------------------------------------------------------------------------------------------------------
void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) { void Energy::sendTarget(Serial &serial, float x, float y, uint16_t z, uint16_t u) {
short x_tmp, y_tmp, z_tmp; short x_tmp, y_tmp, z_tmp;
uint8_t buff[10]; uint8_t buff[10];
@@ -87,7 +87,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) {
time_t t = time(nullptr); time_t t = time(nullptr);
if (last_time != t) { if (last_time != t) {
last_time = t; last_time = t;
cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl; cout << "Energy: fps:" << fps << ", (" << x << "," << y << "," << z << "," << u << ")" << endl;
fps = 0; fps = 0;
} }
fps += 1; fps += 1;
@@ -95,14 +95,13 @@ void Energy::sendTarget(Serial &serial, float x, float y, float z, uint16_t u) {
x_tmp = static_cast<short>(x * (32768 - 1) / 100); x_tmp = static_cast<short>(x * (32768 - 1) / 100);
y_tmp = static_cast<short>(y * (32768 - 1) / 100); y_tmp = static_cast<short>(y * (32768 - 1) / 100);
z_tmp = static_cast<short>(z * (32768 - 1) / 100);
buff[0] = 's'; buff[0] = 's';
buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF); buff[1] = static_cast<char>((x_tmp >> 8) & 0xFF);
buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF); buff[2] = static_cast<char>((x_tmp >> 0) & 0xFF);
buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF); buff[3] = static_cast<char>((y_tmp >> 8) & 0xFF);
buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF); buff[4] = static_cast<char>((y_tmp >> 0) & 0xFF);
buff[5] = static_cast<char>((z_tmp >> 8) & 0xFF); buff[5] = static_cast<char>((z >> 8) & 0xFF);
buff[6] = static_cast<char>((z_tmp >> 0) & 0xFF); buff[6] = static_cast<char>((z >> 0) & 0xFF);
buff[7] = static_cast<char>((u >> 8) & 0xFF); buff[7] = static_cast<char>((u >> 8) & 0xFF);
buff[8] = static_cast<char>((u >> 0) & 0xFF);; buff[8] = static_cast<char>((u >> 0) & 0xFF);;
buff[9] = 'e'; buff[9] = 'e';

21
main.cpp
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@@ -30,7 +30,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体 mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角 0, // 当前云台yaw角
0, // 当前云台pitch角 0, // 当前云台pitch角
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符 ARMOR_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位 0, // 云台角度标记位
1, // 是否启用数字识别 1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色 ENEMY_RED, // 敌方颜色
@@ -96,8 +96,9 @@ int main(int argc, char *argv[]) {
// CNT_TIME("Total", { // CNT_TIME("Total", {
if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式 if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
LOGM(STR_CTR(WORD_BLUE, "Start Big Energy!"));
destroyAllWindows(); destroyAllWindows();
if(from_camera){ if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {
@@ -109,6 +110,7 @@ int main(int argc, char *argv[]) {
checkReconnect(video_chassis->read(chassis_src)); checkReconnect(video_chassis->read(chassis_src));
energy.setBigEnergyInit(); energy.setBigEnergyInit();
} }
last_state = mcuData.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src)); ok = checkReconnect(video_gimbal->read(gimbal_src));
video_chassis->read(chassis_src); video_chassis->read(chassis_src);
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
@@ -120,13 +122,13 @@ int main(int argc, char *argv[]) {
if (!from_camera) extract(gimbal_src, chassis_src); if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
// energy.runBig(gimbal_src, chassis_src); energy.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src); // energy.runBig(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) { } else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) { if (last_state != SMALL_ENERGY_STATE) {
LOGM(STR_CTR(WORD_GREEN, "Start Small Energy!"));
destroyAllWindows(); destroyAllWindows();
if(from_camera){ if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {
@@ -137,6 +139,7 @@ int main(int argc, char *argv[]) {
} }
energy.setSmallEnergyInit(); energy.setSmallEnergyInit();
} }
last_state = mcuData.state;//更新上一帧状态
ok = checkReconnect(video_gimbal->read(gimbal_src)); ok = checkReconnect(video_gimbal->read(gimbal_src));
#ifdef GIMBAL_FLIP_MODE #ifdef GIMBAL_FLIP_MODE
flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE); flip(gimbal_src, gimbal_src, GIMBAL_FLIP_MODE);
@@ -145,11 +148,11 @@ int main(int argc, char *argv[]) {
if (save_video) saveVideos(gimbal_src);//保存视频 if (save_video) saveVideos(gimbal_src);//保存视频
if (show_origin) showOrigin(gimbal_src);//显示原始图像 if (show_origin) showOrigin(gimbal_src);//显示原始图像
energy.runSmall(gimbal_src); energy.runSmall(gimbal_src);
last_state = mcuData.state;//更新上一帧状态
} else { // 自瞄模式 } else { // 自瞄模式
if (last_state != ARMOR_STATE) { if (last_state != ARMOR_STATE) {
LOGM(STR_CTR(WORD_RED, "Start Armor!"));
destroyAllWindows(); destroyAllWindows();
if(from_camera){ if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/); video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {

2
others/include/config/setconfig.h
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@@ -29,7 +29,7 @@
#define ARMOR_CAMERA_GAIN (30) #define ARMOR_CAMERA_GAIN (30)
#endif #endif
#ifndef ENERGY_CAMERA_GAIN #ifndef ENERGY_CAMERA_GAIN
#define ENERGY_CAMERA_GAIN (20) #define ENERGY_CAMERA_GAIN (30)
#endif #endif
#ifndef AIM_KP #ifndef AIM_KP
#define AIM_KP (6) #define AIM_KP (6)

1
others/include/options/options.h
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@@ -18,6 +18,7 @@ extern bool save_labelled_boxes;
extern bool show_process; extern bool show_process;
extern bool show_energy; extern bool show_energy;
extern bool save_mark; extern bool save_mark;
extern bool show_info;
void process_options(int argc, char *argv[]); void process_options(int argc, char *argv[]);

BIN
others/libMVSDK.so
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Binary file not shown.

9
others/src/options/options.cpp
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@@ -17,6 +17,7 @@ bool save_labelled_boxes = false;
bool show_process = false; bool show_process = false;
bool show_energy = false; bool show_energy = false;
bool save_mark = false; bool save_mark = false;
bool show_info = false;
void process_options(int argc, char *argv[]) { void process_options(int argc, char *argv[]) {
if (argc >= 2) { if (argc >= 2) {
@@ -54,6 +55,8 @@ void process_options(int argc, char *argv[]) {
LOGM("Enable show processed image"); LOGM("Enable show processed image");
show_energy = true; show_energy = true;
LOGM("Enable show energy part"); LOGM("Enable show energy part");
show_info = true;
LOGM("Show information!");
} else if (strcmp(argv[i], "--run-with-camera") == 0) { } else if (strcmp(argv[i], "--run-with-camera") == 0) {
run_with_camera = true; run_with_camera = true;
LOGM("Run with camera!"); LOGM("Run with camera!");
@@ -70,14 +73,18 @@ void process_options(int argc, char *argv[]) {
show_process = true; show_process = true;
LOGM("Enable show processed image!"); LOGM("Enable show processed image!");
} else if (strcmp(argv[i], "--show-energy") == 0) { } else if (strcmp(argv[i], "--show-energy") == 0) {
show_energy= true; show_energy = true;
LOGM("Enable show energy part!"); LOGM("Enable show energy part!");
} else if (strcmp(argv[i], "--save-mark") == 0) { } else if (strcmp(argv[i], "--save-mark") == 0) {
save_mark = true; save_mark = true;
LOGM("Write down mark"); LOGM("Write down mark");
} else if (strcmp(argv[i], "--show-info") == 0) {
show_info = true;
LOGM("Show information!");
} else { } else {
LOGW("Unknown option: %s. Use --help to see options.", argv[i]); LOGW("Unknown option: %s. Use --help to see options.", argv[i]);
} }
} }
} }
} }